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Optimal LQG Control Across a Packet-Dropping Link

Gupta, Vijay and Spanos, Demetri and Hassibi, Babak and Murray, Richard M. (2004) Optimal LQG Control Across a Packet-Dropping Link. California Institute of Technology , Pasadena, USA. (Submitted)

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We examine optimal Linear Quadratic Gaussian control for a system in which communication between the sensor (output of the plant) and the controller occurs across a packet-dropping link. We extend the familiar LQG separation principle to this problem that allows us to solve this problem using a standard LQR state-feedback design, along with an optimal algorithm for propagating and using the information across the unreliable link. We present one such optimal algorithm, which consists of a Kalman Filter at the sensor side of the link, and a switched linear filter at the controller side. Our design does not assume any statistical model of the packet drop events, and is thus optimal for an arbitrary packet drop pattern. Further, the solution is appealing from a practical point of view because it can be implemented as a small modification of an existing LQG control design.

Item Type:Report or Paper (Technical Report)
Murray, Richard M.0000-0002-5785-7481
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:2004.007
Persistent URL:
Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28031
Deposited By: Imported from CaltechCDSTR
Deposited On:30 Aug 2004
Last Modified:03 Oct 2019 03:28

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